Articles

Consistent map building in petrochemical complexes for firefighter robots using SLAM based on GPS and LIDAR

The objective of this study was to achieve simultaneous localization and mapping (SLAM) of firefighter robots for petrochemical complexes. Consistency of the SLAM map is important because human operators compa...

Authors: Abu Ubaidah Shamsudin, Kazunori Ohno, Ryunosuke Hamada, Shotaro Kojima, Thomas Westfechtel, Takahiro Suzuki, Yoshito Okada, Satoshi Tadokoro, Jun Fujita and Hisanori Amano

Visual support system for remote control by adaptive ROI selection of monitoring robot

A visual assistance system has become attractive as a technique to improve the efficiency and stability of remote control. While an operator controls a working robot, another autonomous monitoring robot evalua...

Authors: Shota Samejima, Khusniddin Fozilov and Kosuke Sekiyama

Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Laparoscopic surgery is a minimally invasive surgery that accelerates postoperative recovery, but it can only be performed by surgeons with advanced surgical skills. One of the main difficulties in laparoscopi...

Authors: Makoto Jinno

Occlusion handling for a target-tracking robot with a stereo camera

This paper presents an occlusion-handling method for a target-tracking robot with a stereo camera. One of the main challenges with the robot is to continue tracking when the illumination changes and occlusion ...

Authors: Yuzuka Isobe, Gakuto Masuyama and Kazunori Umeda

Modification of body schema by use of extra robotic thumb

In recent years, there has been great interest in the possibility of using artificial limbs as an extension of the human body as well as replacement of lost limbs. In this paper, we develop a sixth finger syst...

Authors: Noel Segura Meraz, Masafumi Sobajima, Tadayoshi Aoyama and Yasuhisa Hasegawa

Compound locomotion control system combining crawling and walking for multi-crawler multi-arm robot to adapt unstructured and unknown terrain

How to improve task performance and how to control a robot in extreme environments when just a few sensors can be used to obtain environmental information are two of the problems for disaster response robots (...

Authors: Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu and Shigeki Sugano

A method of picking up a folded fabric product by a single-armed robot

This paper describes a method to pick up a folded cloth product by a single-armed robot. We focus on a problem on picking up a folded cloth, and organize tasks to attack it. Then, we propose methods of grasp p...

Authors: Yusuke Moriya, Daisuke Tanaka, Kimitoshi Yamazaki and Keisuke Takeshita

Control of mobile robot by switching traveling direction and control gain

The control method based on the time-state control form has been proposed to stabilize the chained system, which is a canonical-form nonlinear system. In this study, the control method is used for controlling ...

Authors: Satoko Yamakawa and Kenta Ebara

Motion-blur-free video shooting system based on frame-by-frame intermittent tracking

In this paper, a concept of frame-by-frame intermittent tracking to achieve motion-blur-free and high-brightness images when video shooting fast moving scenes is proposed. In our tracking concept, two control ...

Authors: Michiaki Inoue, Mingjun Jiang, Yuji Matsumoto, Takeshi Takaki and Idaku Ishii

Slip-compensated odometry for tracked vehicle on loose and weak slope

Odometry is widely used to localize wheeled and tracked vehicles because of its simplicity and continuity. Odometric calculations integrate the wheel or track’s rotation speed. The accuracy of position thus ca...

Authors: Genki Yamauchi, Keiji Nagatani, Takeshi Hashimoto and Kenichi Fujino

Development of an implicit method for directing weight shifting to the affected side in patients with stroke: a proof of concept study

Weight-shift training during stroke rehabilitation requires patient effort, potentially causing leg spasticity and anxiety, which disturb motor learning. The purpose of this study was (1) to devise an implicit...

Authors: Kazuhiro Yasuda, Kenta Saichi, Yu Kitaji, Hiroaki Harashima and Hiroyasu Iwata

Optimization of orifice position in particle-excitation valve for proportional flow control

This paper reports an improvement of the particle-excitation flow control valve. The valve that we have designed in previous reports can control air flow, using particle excitation by piezoelectric resonance, ...

Authors: Daisuke Hirooka, Tomomi Yamaguchi, Naomichi Furushiro, Koichi Suzumori and Takefumi Kanda

Complementary human detection and multiple feature based tracking using a stereo camera

A human detection and tracking method using a stereo camera is presented in this paper. Two human detection methods are independently implemented, and the results are combined to reduce misdetection and nondet...

Authors: Gakuto Masuyama, Takehiro Kawashita and Kazunori Umeda

Contamination-free non-contact wettability assessment system

Surface wettability is one of most important indexes for understanding the interfacial characteristics between a solid surface and a liquid, especially such physico-chemical properties as hydrophilicity and wa...

Authors: Nobuyuki Tanaka, Yoshihide Haruzono, Hiromitsu Nasu, Yuki Nakanishi, Junko Takahara, Akane Awazu and Yo Tanaka

Remote radioactive seed-loading device for permanent brachytherapy of oral cancer with Au-198 grains

This paper presents a remote radioactive seed-loading device for permanent brachytherapy of oral cancer with Au-198 grains to reduce the exposure dose to the doctors. Permanent brachytherapy is a treatment whi...

Authors: Mukau Sato, Yukari Saito, Toshio Takayama, Toru Omata, Hiroshi Watanabe, Ryoichi Yoshimura and Masahiko Miura

Methods for quantitative studies of seafloor hydrothermal systems using 3D visual reconstructions

3D visual mapping of the seafloor has found applications ranging from environment monitoring and survey of marine minerals to underwater archaeology and inspection of modern artificial structures. However, the...

Authors: Adrian Bodenmann, Blair Thornton, Ryota Nakajima and Tamaki Ura

Human-based framework for the assembly of elastic objects by a dual-arm robot

This paper proposes a new framework for planning assembly tasks involving elastic parts. As an example of these kind of assembly tasks, we deal with the insertion of ring-shaped objects into a cylinder by a du...

Authors: Ixchel G. Ramirez-Alpizar, Kensuke Harada and Eiichi Yoshida

Wearable finger pad deformation sensor for tactile textures in frequency domain by using accelerometer on finger side

In this study, we set out to develop a method for estimating the fine and fast shear deformation of a finger pad, that is, the palm side of a fingertip, as it scans the surface of a material. Using a miniature...

Authors: Shunsuke Sato, Shogo Okamoto, Yoichiro Matsuura and Yoji Yamada

Modeling and control of electroadhesion force in DC voltage

In this paper, a new model for electroadhesion between two surface-insulated plates under DC electric field is presented and control of dynamic responses of electroadhesion force is discussed. Under DC electri...

Authors: Taku Nakamura and Akio Yamamoto

Force sensor utilizing stiffness change of shape-memory polymer based on temperature

In this study, we propose a force sensor using a shape-memory polymer (SMP) whose stiffness varies according to the temperature. An SMP can be deformed above its glass transition temperature (T ...

Authors: Kazuto Takashima, Hiroki Kamizono, Makoto Takenaka and Toshiharu Mukai

Jam-free gear–clutch mechanism for load-sensitive step transmission in robotic joint

This paper introduces a novel gear–clutch mechanism that takes advantage of the difference between the directions in the reaction forces that occur during meshing and jamming to ensure jam-free engagement of t...

Authors: Maroay Phlernjai and Toshio Takayama

Algorithm to demodulate an electromyogram signal modulated by essential tremor

Essential tremor is a disorder that causes involuntary oscillations in patients both while they are engaged in actions and when maintaining a posture. Such patients face serious difficulties in performing dail...

Authors: Yuya Matsumoto, Masatoshi Seki, Yasutaka Nakashima, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka and Masakatsu G. Fujie

Research on effective teleoperation of construction machinery fusing manual and automatic operation

It is known that the work efficiency of teleoperated construction machinery is lower than that of directly operated machinery. Assistance via automatic control is expected to improve the work efficiency. Howev...

Authors: Takanobu Tanimoto, Kei Shinohara and Hiroshi Yoshinada

Unsupervised learning approach to automation of hammering test using topological information

In this paper we present an online unsupervised method based on clustering to find defects in concrete structures using hammering. First, the initial dataset of sound samples is roughly clustered using the k-m...

Authors: Jun Younes Louhi Kasahara, Hiromitsu Fujii, Atsushi Yamashita and Hajime Asama

Friction perception resulting from laterally vibrotactile stimuli

When a human rubs a contactor that is vibrating laterally at 3–10 Hz with an amplitude of ~1 mm, the friction is perceived as being greater than that sensed when touching a stationary contactor. This phenomeno...

Authors: Akihiro Imaizumi, Shogo Okamoto and Yoji Yamada

Optimization of the flexural rigidity of a concentric pipe used in transmitting rotation for arc-shaped forceps

Arc-shaped forceps are important in pharyngeal cancer surgery, endoscopic sinus surgery, and single port surgery. Rotating the gripper of an arc-shaped forceps with respect to its shaft axis can improve the ma...

Authors: Satsuya Noda, Toshio Takayama and Toru Omata

A modular cognitive model of socially embedded robot partners for information support

The purpose of this research is the development of a robot partner system based on modular cognitive model for human support. In order to implement information support of daily life to human, smooth human–robo...

Authors: Jinseok Woo, János Botzheim and Naoyuki Kubota

Influence of trunk structure on posture transition from quadrupedalism to bipedalism

An effective strategy for walking over rough terrain, flat plane, and wreckage includes transitioning from quadrupedal to bipedal locomotion. In this study, we designed a trunk mechanism that provides successf...

Authors: Takashi Takuma and Wataru Kase

Development of an actuation system based on water jet propulsion for a slim long-reach robot

Most of the long-reach inspection devices developed so far have a limitation in the reduction of their diameter when their length is increased. This limitation is due to the technology used to provide the actu...

Authors: Jose A. Silva Rico, Gen Endo, Shigeo Hirose and Hiroya Yamada

Safe tree felling using expansion agent

We discuss about safe tree felling methods. In previous work, tree felling robots that were equipped with cutting instruments have been investigated in order to keep workers’ safety. However, these robots may ...

Authors: Chyon Hae Kim, Hiroaki Abe, Akio Numakura, Jyunpei Koyama and Yukio Takahashi

Unitization for portability of emergency response surveillance robot system: experiences and lessons learned from the deployment of the JAEA-3 emergency response robot at the Fukushima Daiichi Nuclear Power Plants

It was cleared that transportability of emergency response robots system had been very important. Therefore, RESQ series robots, which were developed by Japan Atomic Energy Research Institute (present, Japan A...

Authors: Shinji Kawatsuma, Ryuji Mimura and Hajime Asama

Analysis of rotational flow generated by circular motion of an end effector for 3D micromanipulation

This paper presents a non-contact manipulation method using rotational flow generated by high speed motion of a glass needle. In order to generate an applicable motion that can precisely control the speed and ...

Authors: Eunhye Kim, Masaru Kojima, Liu Xiaoming, Takayuki Hattori, Kazuto Kamiyama, Yasushi Mae and Tatsuo Arai

Development of a rotational meshing actuator for in-home life support systems

For elderly and physically disabled people, support systems that assist their active daily life are as important as appropriate rehabilitation. We have designed a rotational meshing actuator for a life support...

Authors: Mai Endo, Mitsuru Endo and Takao Kakizaki

Position and inclination control of a passive disk based on cyclic motion generation

We propose a position and inclination controlling method for a passive object using an active plate. Previously, we proposed a novel manipulation scheme that can control a passive object’s orientation using an...

Authors: Tadayoshi Aoyama, Qingyi Gu, Takeshi Takaki and Idaku Ishii

Motion-tracking skill assist and power assist for sinusoidal motions with a semi-active assist mechanism using energy control

This paper describes a skill assist method for sinusoidal motions using a semi-active assist mechanism through an energy control method. In a previous study, we had developed and verified the effectiveness of ...

Authors: Takashi Kusaka, Takayuki Tanaka and Hidekazu Kajiwara

Development of friction free controller for electro-hydrostatic actuator using feedback modulator and disturbance observer

Hydraulic actuators have high power-to-weight ratios, making them suitable for high-power robotic applications such as in walking robots and construction machines. However, large frictional forces in hydraulic...

Authors: Sho Sakaino and Toshiaki Tsuji

A signal hardware-in-the-loop model for electric vehicles

Recently, researches on electric vehicle are focused on motion control and state estimation. These works require a model that imitate a real vehicle as close as possible. We propose in this paper a signal hard...

Authors: Thanh Vo-Duy and Minh C. Ta

A mechanical approach to realize reflexive omnidirectional bending motion for pneumatic continuum robots

A mechanism that allows a robotic arm to quickly grip various forms of objects at disaster sites will enhance the mobility of rescue robots by keeping their bodies stable and maintaining manipulability for tar...

Authors: Eri Takane, Kenjiro Tadakuma, Tomonari Yamamoto, Masashi Konyo and Satoshi Tadokoro

Realization of heavy object transportation by mobile robots using handcarts and outrigger

In this paper, we have dealt with the problem to transport large heavy objects using a group of small mobile robots. Generally, payload of the robot, the maximum weight of the object that the robot can operate...

Authors: Fusao Ohashi, Kohei Kaminishi, Jorge David Figueroa Heredia, Hiroki Kato, Taiki Ogata, Tatsunori Hara and Jun Ota

Approach function study for concierge-type robot by model-based development with user model for human-centred design

Service robots are common sights in everyday life. The service robots are expected to provide useful services with a high degree of usability, and a high degree of user experience (UX) to users and other perso...

Authors: Yoshinobu Akimoto, Eri Sato-Shimokawara, Yasunari Fujimoto and Toru Yamaguchi

Configuration of redundant drive wire mechanism using double actuator modules

A new wire mechanism called “redundant drive wire mechanism” (RDWM), driven by double actuator modules (DAMs) is introduced. When RDWM is used for producing multi-directional motions using DAMs, the number of ...

Authors: Tam Nhat Le, Hiroki Dobashi and Kiyoshi Nagai

Erratum to: Kinematical and static force analysis on redundant drive wire mechanism with velocity constraint modules to reduce the number of actuators

Authors: Tam Nhat Le, Hiroki Dobashi and Kiyoshi Nagai

B-PaDY: robot co-worker in a bumper assembly line

In an automobile assembly line, many processes require control and human intervention. A human’s dexterity and ability to react to unpredictable changes in production volume and product specifications are nece...

Authors: Jun Kinugawa, Akira Kanazawa and Kazuhiro Kosuge

Kinematical and static force analysis on redundant drive wire mechanism with velocity constraint modules to reduce the number of actuators

This study proposes new wire mechanism called “the redundant drive wire mechanism” (RDWM), driven by double actuator modules. The RDWM is configured with velocity constraint modules (VCMs) that provide high-ac...

Authors: Tam Nhat Le, Hiroki Dobashi and Kiyoshi Nagai

Robot development project with human- and eco-friendly smart materials

The social need for robotic technology is rapidly increasing to prepare for the aging society in Japan. Many political action plans concerning Japan’s robot strategy have been proposed and carried out nationwi...

Authors: Yoshiaki Itoh, Toru Yamazaki, Hun-ok Lim and Kenichi Takemura

Assessment of a tracked vehicle’s ability to traverse stairs

In some surveillance missions in the aftermath of disasters, the use of a teleoperated tracked vehicle contributes to the safety of rescue crews. However, because of its insufficient traversal capability, the ...

Authors: Daisuke Endo and Keiji Nagatani

Retinal vessel model fabricated on a curved surface structure for a simulation of microcannulation

A remarkable number of vitreoretinal surgeries are performed each year despite their difficulty. As a result, a high demand exists for a mock-up simulator of retinal vessels to simulate these surgeries. Thus, ...

Authors: Takeshi Hayakawa, Ippei Kato, Fumihito Arai, Mamoru Mitsuishi, Naohiko Sugita, Kanako Harada, Shinichi Tanaka, Yasuo Noda and Takashi Ueta

Musculoskeletal lower-limb robot driven by multifilament muscles

This paper presents a redundant musculoskeletal robot using thin McKibben muscles that is based on human anatomy. The purpose of this robot is to achieve motions and characteristics that are very similar to a ...

Authors: Shunichi Kurumaya, Koichi Suzumori, Hiroyuki Nabae and Shuichi Wakimoto

Service robot planning via solving constraint satisfaction problem

The problem of demographic shifts towards the elderly is deteriorating, as the relative number of caregivers is insufficient to provide the support required for their wellbeing, which is further aggravated by ...

Authors: Noel Nuo Wi Tay, Azhar Aulia Saputra, János Botzheim and Naoyuki Kubota

Precise assembly of ring part with optimized hollowed finger

We deal with a technical issue of assembling a ring part into a shaft part with the clearance of several micrometers by using a robotic manipulator. This issue is difficult because of deformation of a ring par...

Authors: Tomoya Fukukawa, Junji Takahashi and Toshio Fukuda